2023/08/02 by Sheng Yu, Xiao Pan, Yu, Sheng +9 · 1 citation
Engineering · #Electric Vehicles and Infrastructure #Electric and Hybrid Vehicle Technologies #FOS: Electrical engineering #Systems and Control (eess.SY) #Traffic control and management #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2308.01201
openalex publication_date 2023/08/02 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This work addresses the ecological-adaptive cruise control problem for connected electric vehicles by a computationally efficient robust control strategy. The problem is formulated in the space-domain with a realistic description of the nonlinear electric powertrain model and motion dynamics to yield a convex optimal control problem (OCP). The OCP is approached by a novel robust model predictive control (RMPC) method handling various disturbances due to modelling mismatch and inaccurate leading vehicle information. The RMPC problem is solved by semi-definite programming relaxation and single linear matrix inequality (sLMI) techniques for further enhanced computational efficiency. The performance of the proposed real-time robust ecological-adaptive cruise control (REACC) method is evaluated using an experimentally collected driving cycle. Its robustness is verified by comparison with a nominal MPC which is shown to result in speed-limit constraint violations. The energy economy of the proposed method outperforms a state-of-the-art time-domain RMPC scheme, as a more precisely fitted convex powertrain model can be integrated into the space-domain scheme. The additional comparison with a traditional constant distance following strategy (CDFS) further verifies the effectiveness of the proposed REACC. Finally, it is verified that the REACC can be potentially implemented in real-time owing to the sLMI and resulting convex algorithm.